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<a href="#nested-classes">类</a> &#124;
<a href="#pub-types">Public 类型</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pro-methods">Protected 成员函数</a> &#124;
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<div class="title">pcl::registration::ELCH&lt; PointT &gt; 模板类 参考</div>  </div>
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<p><b><a class="el" href="classpcl_1_1registration_1_1_e_l_c_h.html" title="ELCH (Explicit Loop Closing Heuristic) class">ELCH</a></b> (Explicit Loop Closing Heuristic) class  
 <a href="classpcl_1_1registration_1_1_e_l_c_h.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="elch_8h_source.html">elch.h</a>&gt;</code></p>
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类 pcl::registration::ELCH&lt; PointT &gt; 继承关系图:</div>
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<area href="classpcl_1_1_p_c_l_base.html" title="PCL base class. Implements methods that are used by most PCL algorithms." alt="pcl::PCLBase&lt; PointT &gt;" shape="rect" coords="0,0,196,24"/>
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类</h2></td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1registration_1_1_e_l_c_h_1_1_vertex.html">Vertex</a></td></tr>
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Public 类型</h2></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1registration_1_1_e_l_c_h.html">ELCH</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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<tr class="memitem:a3ddfead7681748496f42910c79aabef4"><td class="memItemLeft" align="right" valign="top"><a id="a3ddfead7681748496f42910c79aabef4"></a>
typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1registration_1_1_e_l_c_h.html">ELCH</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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<tr class="memitem:ac2ad468d8ea35c7d6e5cd73a2fee2e97"><td class="memItemLeft" align="right" valign="top"><a id="ac2ad468d8ea35c7d6e5cd73a2fee2e97"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
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typedef PointCloud::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
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typedef PointCloud::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
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typedef boost::adjacency_list&lt; boost::listS, <a class="el" href="structboost_1_1eigen__vec_s.html">boost::eigen_vecS</a>, boost::undirectedS, <a class="el" href="structpcl_1_1registration_1_1_e_l_c_h_1_1_vertex.html">Vertex</a>, boost::no_property &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_e_l_c_h.html#ac5262f9b7301989c89d3c6ea628954ed">LoopGraph</a></td></tr>
<tr class="memdesc:ac5262f9b7301989c89d3c6ea628954ed"><td class="mdescLeft">&#160;</td><td class="mdescRight">graph structure to hold the SLAM graph <br /></td></tr>
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<tr class="memitem:a6d0e5280c72eff1e3b914b55bc331cc6"><td class="memItemLeft" align="right" valign="top"><a id="a6d0e5280c72eff1e3b914b55bc331cc6"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1registration_1_1_e_l_c_h.html#ac5262f9b7301989c89d3c6ea628954ed">LoopGraph</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>LoopGraphPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_registration.html">pcl::Registration</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Registration</b></td></tr>
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typedef Registration::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>RegistrationPtr</b></td></tr>
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typedef Registration::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>RegistrationConstPtr</b></td></tr>
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<tr class="inherit_header pub_types_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Public 类型 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointT &gt;</a></td></tr>
<tr class="memitem:ae2f6f6863a73337858b7a7a054eaae4f inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ae2f6f6863a73337858b7a7a054eaae4f"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
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typedef PointCloud::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
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typedef PointCloud::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointIndicesPtr</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> const  &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointIndicesConstPtr</b></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:adc8c0093e2af4d1b0260d3231ba1d9fa"><td class="memItemLeft" align="right" valign="top"><a id="adc8c0093e2af4d1b0260d3231ba1d9fa"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_e_l_c_h.html#adc8c0093e2af4d1b0260d3231ba1d9fa">ELCH</a> ()</td></tr>
<tr class="memdesc:adc8c0093e2af4d1b0260d3231ba1d9fa"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. <br /></td></tr>
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virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_e_l_c_h.html#a640526e542ee140bad08e1316082e5ac">~ELCH</a> ()</td></tr>
<tr class="memdesc:a640526e542ee140bad08e1316082e5ac"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty destructor <br /></td></tr>
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<tr class="memitem:a699aeed821928a76785e198ebb0ad978"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_e_l_c_h.html#a699aeed821928a76785e198ebb0ad978">addPointCloud</a> (PointCloudPtr cloud)</td></tr>
<tr class="memdesc:a699aeed821928a76785e198ebb0ad978"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add a new point cloud to the internal graph.  <a href="classpcl_1_1registration_1_1_e_l_c_h.html#a699aeed821928a76785e198ebb0ad978">更多...</a><br /></td></tr>
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<tr class="memitem:aed4786817a1069116b02cdccd723e6df"><td class="memItemLeft" align="right" valign="top"><a id="aed4786817a1069116b02cdccd723e6df"></a>
LoopGraphPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_e_l_c_h.html#aed4786817a1069116b02cdccd723e6df">getLoopGraph</a> ()</td></tr>
<tr class="memdesc:aed4786817a1069116b02cdccd723e6df"><td class="mdescLeft">&#160;</td><td class="mdescRight">Getter for the internal graph. <br /></td></tr>
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<tr class="memitem:a6ec78cd27b7ad849037410127c874459"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_e_l_c_h.html#a6ec78cd27b7ad849037410127c874459">setLoopGraph</a> (LoopGraphPtr loop_graph)</td></tr>
<tr class="memdesc:a6ec78cd27b7ad849037410127c874459"><td class="mdescLeft">&#160;</td><td class="mdescRight">Setter for a new internal graph.  <a href="classpcl_1_1registration_1_1_e_l_c_h.html#a6ec78cd27b7ad849037410127c874459">更多...</a><br /></td></tr>
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<tr class="memitem:a1ce713b789a94fc11630ee513e6af108"><td class="memItemLeft" align="right" valign="top"><a id="a1ce713b789a94fc11630ee513e6af108"></a>
boost::graph_traits&lt; <a class="el" href="classpcl_1_1registration_1_1_e_l_c_h.html#ac5262f9b7301989c89d3c6ea628954ed">LoopGraph</a> &gt;::vertex_descriptor&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_e_l_c_h.html#a1ce713b789a94fc11630ee513e6af108">getLoopStart</a> ()</td></tr>
<tr class="memdesc:a1ce713b789a94fc11630ee513e6af108"><td class="mdescLeft">&#160;</td><td class="mdescRight">Getter for the first scan of a loop. <br /></td></tr>
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<tr class="memitem:a70c81e9d0a73cdc9a85769467bd5c9d8"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_e_l_c_h.html#a70c81e9d0a73cdc9a85769467bd5c9d8">setLoopStart</a> (const typename boost::graph_traits&lt; <a class="el" href="classpcl_1_1registration_1_1_e_l_c_h.html#ac5262f9b7301989c89d3c6ea628954ed">LoopGraph</a> &gt;::vertex_descriptor &amp;loop_start)</td></tr>
<tr class="memdesc:a70c81e9d0a73cdc9a85769467bd5c9d8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Setter for the first scan of a loop.  <a href="classpcl_1_1registration_1_1_e_l_c_h.html#a70c81e9d0a73cdc9a85769467bd5c9d8">更多...</a><br /></td></tr>
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boost::graph_traits&lt; <a class="el" href="classpcl_1_1registration_1_1_e_l_c_h.html#ac5262f9b7301989c89d3c6ea628954ed">LoopGraph</a> &gt;::vertex_descriptor&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_e_l_c_h.html#a326a4b3e5b6a9694f50fe6d29e00360f">getLoopEnd</a> ()</td></tr>
<tr class="memdesc:a326a4b3e5b6a9694f50fe6d29e00360f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Getter for the last scan of a loop. <br /></td></tr>
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<tr class="memitem:a50e55522983f1b6860d8a0e22d4e5f2f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_e_l_c_h.html#a50e55522983f1b6860d8a0e22d4e5f2f">setLoopEnd</a> (const typename boost::graph_traits&lt; <a class="el" href="classpcl_1_1registration_1_1_e_l_c_h.html#ac5262f9b7301989c89d3c6ea628954ed">LoopGraph</a> &gt;::vertex_descriptor &amp;loop_end)</td></tr>
<tr class="memdesc:a50e55522983f1b6860d8a0e22d4e5f2f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Setter for the last scan of a loop.  <a href="classpcl_1_1registration_1_1_e_l_c_h.html#a50e55522983f1b6860d8a0e22d4e5f2f">更多...</a><br /></td></tr>
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<tr class="memitem:ae4fc9763a545b697bbf74d35e677519d"><td class="memItemLeft" align="right" valign="top"><a id="ae4fc9763a545b697bbf74d35e677519d"></a>
RegistrationPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_e_l_c_h.html#ae4fc9763a545b697bbf74d35e677519d">getReg</a> ()</td></tr>
<tr class="memdesc:ae4fc9763a545b697bbf74d35e677519d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Getter for the registration algorithm. <br /></td></tr>
<tr class="separator:ae4fc9763a545b697bbf74d35e677519d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9a6b424362d615b4a6a59d4b6c171ce2"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_e_l_c_h.html#a9a6b424362d615b4a6a59d4b6c171ce2">setReg</a> (RegistrationPtr reg)</td></tr>
<tr class="memdesc:a9a6b424362d615b4a6a59d4b6c171ce2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Setter for the registration algorithm.  <a href="classpcl_1_1registration_1_1_e_l_c_h.html#a9a6b424362d615b4a6a59d4b6c171ce2">更多...</a><br /></td></tr>
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<tr class="memitem:a40c41eea3ca6953511d37a849f077c17"><td class="memItemLeft" align="right" valign="top"><a id="a40c41eea3ca6953511d37a849f077c17"></a>
Eigen::Matrix4f&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_e_l_c_h.html#a40c41eea3ca6953511d37a849f077c17">getLoopTransform</a> ()</td></tr>
<tr class="memdesc:a40c41eea3ca6953511d37a849f077c17"><td class="mdescLeft">&#160;</td><td class="mdescRight">Getter for the transformation between the first and the last scan. <br /></td></tr>
<tr class="separator:a40c41eea3ca6953511d37a849f077c17"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a209e59992fbbea574ce1a1f09078a77e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_e_l_c_h.html#a209e59992fbbea574ce1a1f09078a77e">setLoopTransform</a> (const Eigen::Matrix4f &amp;loop_transform)</td></tr>
<tr class="memdesc:a209e59992fbbea574ce1a1f09078a77e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Setter for the transformation between the first and the last scan.  <a href="classpcl_1_1registration_1_1_e_l_c_h.html#a209e59992fbbea574ce1a1f09078a77e">更多...</a><br /></td></tr>
<tr class="separator:a209e59992fbbea574ce1a1f09078a77e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aff1f479c129f89d570541f6cce3307a1"><td class="memItemLeft" align="right" valign="top"><a id="aff1f479c129f89d570541f6cce3307a1"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_e_l_c_h.html#aff1f479c129f89d570541f6cce3307a1">compute</a> ()</td></tr>
<tr class="memdesc:aff1f479c129f89d570541f6cce3307a1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Computes new poses for all point clouds by closing the loop between start and end point cloud. This will transform all given point clouds for now! <br /></td></tr>
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<tr class="inherit_header pub_methods_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointT &gt;</a></td></tr>
<tr class="memitem:af4fbc5eb005057f8a0fc6d60bde595df inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="af4fbc5eb005057f8a0fc6d60bde595df"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af4fbc5eb005057f8a0fc6d60bde595df">PCLBase</a> ()</td></tr>
<tr class="memdesc:af4fbc5eb005057f8a0fc6d60bde595df inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. <br /></td></tr>
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<tr class="memitem:a7a6dd7a91275d7737cf1b18005b47244 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a7a6dd7a91275d7737cf1b18005b47244"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a7a6dd7a91275d7737cf1b18005b47244">PCLBase</a> (const <a class="el" href="classpcl_1_1_p_c_l_base.html">PCLBase</a> &amp;base)</td></tr>
<tr class="memdesc:a7a6dd7a91275d7737cf1b18005b47244 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy constructor. <br /></td></tr>
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<tr class="memitem:ad5d6846e98e59c37dcc3dc9958d53966 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ad5d6846e98e59c37dcc3dc9958d53966"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ad5d6846e98e59c37dcc3dc9958d53966">~PCLBase</a> ()</td></tr>
<tr class="memdesc:ad5d6846e98e59c37dcc3dc9958d53966 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
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<tr class="memitem:a1952d7101f3942bac3b69ed55c1ca7ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">setInputCloud</a> (const PointCloudConstPtr &amp;cloud)</td></tr>
<tr class="memdesc:a1952d7101f3942bac3b69ed55c1ca7ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the input dataset  <a href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">更多...</a><br /></td></tr>
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<tr class="memitem:a8cd745c4f7a792212f4fc3720b9d46ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a8cd745c4f7a792212f4fc3720b9d46ea"></a>
PointCloudConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a8cd745c4f7a792212f4fc3720b9d46ea">getInputCloud</a> () const</td></tr>
<tr class="memdesc:a8cd745c4f7a792212f4fc3720b9d46ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the input point cloud dataset. <br /></td></tr>
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<tr class="memitem:ab219359de6eb34c9d51e2e976dd1a0d1 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1">setIndices</a> (const IndicesPtr &amp;indices)</td></tr>
<tr class="memdesc:ab219359de6eb34c9d51e2e976dd1a0d1 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1">更多...</a><br /></td></tr>
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<tr class="memitem:a436c68c74b31e4dd00000adfbb11ca7c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a436c68c74b31e4dd00000adfbb11ca7c">setIndices</a> (const IndicesConstPtr &amp;indices)</td></tr>
<tr class="memdesc:a436c68c74b31e4dd00000adfbb11ca7c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#a436c68c74b31e4dd00000adfbb11ca7c">更多...</a><br /></td></tr>
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<tr class="memitem:af9cc90d8364ce968566f75800d3773ca inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af9cc90d8364ce968566f75800d3773ca">setIndices</a> (const PointIndicesConstPtr &amp;indices)</td></tr>
<tr class="memdesc:af9cc90d8364ce968566f75800d3773ca inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#af9cc90d8364ce968566f75800d3773ca">更多...</a><br /></td></tr>
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<tr class="memitem:a930c7a6375fdf65ff8cfdb4eb4a6d996 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a930c7a6375fdf65ff8cfdb4eb4a6d996">setIndices</a> (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)</td></tr>
<tr class="memdesc:a930c7a6375fdf65ff8cfdb4eb4a6d996 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the indices for the points laying within an interest region of the point cloud.  <a href="classpcl_1_1_p_c_l_base.html#a930c7a6375fdf65ff8cfdb4eb4a6d996">更多...</a><br /></td></tr>
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<tr class="memitem:a058753dd4de73d3d0062fe2e452fba3c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a058753dd4de73d3d0062fe2e452fba3c"></a>
IndicesPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a058753dd4de73d3d0062fe2e452fba3c">getIndices</a> ()</td></tr>
<tr class="memdesc:a058753dd4de73d3d0062fe2e452fba3c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the vector of indices used. <br /></td></tr>
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<tr class="memitem:acae187b37230758959572ceb1e6e2045 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="acae187b37230758959572ceb1e6e2045"></a>
IndicesConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#acae187b37230758959572ceb1e6e2045">getIndices</a> () const</td></tr>
<tr class="memdesc:acae187b37230758959572ceb1e6e2045 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the vector of indices used. <br /></td></tr>
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<tr class="memitem:af7335fedb0af0930b9d1dedcb54ba201 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af7335fedb0af0930b9d1dedcb54ba201">operator[]</a> (size_t pos) const</td></tr>
<tr class="memdesc:af7335fedb0af0930b9d1dedcb54ba201 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Override <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a> operator[] to shorten code  <a href="classpcl_1_1_p_c_l_base.html#af7335fedb0af0930b9d1dedcb54ba201">更多...</a><br /></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected 成员函数</h2></td></tr>
<tr class="memitem:af10218ba848a4d12862b95205c28f423"><td class="memItemLeft" align="right" valign="top"><a id="af10218ba848a4d12862b95205c28f423"></a>
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_e_l_c_h.html#af10218ba848a4d12862b95205c28f423">initCompute</a> ()</td></tr>
<tr class="memdesc:af10218ba848a4d12862b95205c28f423"><td class="mdescLeft">&#160;</td><td class="mdescRight">This method should get called before starting the actual computation. <br /></td></tr>
<tr class="separator:af10218ba848a4d12862b95205c28f423"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_methods_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Protected 成员函数 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointT &gt;</a></td></tr>
<tr class="memitem:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#acceb20854934f4cf77e266eb5a44d4f0">initCompute</a> ()</td></tr>
<tr class="memdesc:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">This method should get called before starting the actual computation.  <a href="classpcl_1_1_p_c_l_base.html#acceb20854934f4cf77e266eb5a44d4f0">更多...</a><br /></td></tr>
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<tr class="memitem:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="afc426c4eebb94b7734d4fa556bff1420"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#afc426c4eebb94b7734d4fa556bff1420">deinitCompute</a> ()</td></tr>
<tr class="memdesc:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">This method should get called after finishing the actual computation. <br /></td></tr>
<tr class="separator:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-types"></a>
Private 类型</h2></td></tr>
<tr class="memitem:af98b2995f77aa977ef442e8619e8c873"><td class="memItemLeft" align="right" valign="top"><a id="af98b2995f77aa977ef442e8619e8c873"></a>
typedef boost::adjacency_list&lt; boost::listS, boost::vecS, boost::undirectedS, boost::no_property, boost::property&lt; boost::edge_weight_t, double &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_e_l_c_h.html#af98b2995f77aa977ef442e8619e8c873">LOAGraph</a></td></tr>
<tr class="memdesc:af98b2995f77aa977ef442e8619e8c873"><td class="mdescLeft">&#160;</td><td class="mdescRight">graph structure for the internal optimization graph <br /></td></tr>
<tr class="separator:af98b2995f77aa977ef442e8619e8c873"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-methods"></a>
Private 成员函数</h2></td></tr>
<tr class="memitem:af1f07eb24a5f59b081521a5cf7350895"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_e_l_c_h.html#af1f07eb24a5f59b081521a5cf7350895">loopOptimizerAlgorithm</a> (<a class="el" href="classpcl_1_1registration_1_1_e_l_c_h.html#af98b2995f77aa977ef442e8619e8c873">LOAGraph</a> &amp;g, double *weights)</td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-attribs"></a>
Private 属性</h2></td></tr>
<tr class="memitem:a765f76380bd81395ffa7005f5ba3d26a"><td class="memItemLeft" align="right" valign="top"><a id="a765f76380bd81395ffa7005f5ba3d26a"></a>
LoopGraphPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_e_l_c_h.html#a765f76380bd81395ffa7005f5ba3d26a">loop_graph_</a></td></tr>
<tr class="memdesc:a765f76380bd81395ffa7005f5ba3d26a"><td class="mdescLeft">&#160;</td><td class="mdescRight">The internal loop graph. <br /></td></tr>
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boost::graph_traits&lt; <a class="el" href="classpcl_1_1registration_1_1_e_l_c_h.html#ac5262f9b7301989c89d3c6ea628954ed">LoopGraph</a> &gt;::vertex_descriptor&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_e_l_c_h.html#a5bb88c947d3d707860e190bca8dd6145">loop_start_</a></td></tr>
<tr class="memdesc:a5bb88c947d3d707860e190bca8dd6145"><td class="mdescLeft">&#160;</td><td class="mdescRight">The first scan of the loop. <br /></td></tr>
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boost::graph_traits&lt; <a class="el" href="classpcl_1_1registration_1_1_e_l_c_h.html#ac5262f9b7301989c89d3c6ea628954ed">LoopGraph</a> &gt;::vertex_descriptor&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_e_l_c_h.html#a2dc3fbc4ade3cec41a51dcad5b48bc9f">loop_end_</a></td></tr>
<tr class="memdesc:a2dc3fbc4ade3cec41a51dcad5b48bc9f"><td class="mdescLeft">&#160;</td><td class="mdescRight">The last scan of the loop. <br /></td></tr>
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RegistrationPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_e_l_c_h.html#ad4b077d5a0316854d36b60445a24ed04">reg_</a></td></tr>
<tr class="memdesc:ad4b077d5a0316854d36b60445a24ed04"><td class="mdescLeft">&#160;</td><td class="mdescRight">The registration object used to close the loop. <br /></td></tr>
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Eigen::Matrix4f&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_e_l_c_h.html#a86e5a885395ad3ff976024ea0df182df">loop_transform_</a></td></tr>
<tr class="memdesc:a86e5a885395ad3ff976024ea0df182df"><td class="mdescLeft">&#160;</td><td class="mdescRight">The transformation between that start and end of the loop. <br /></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>compute_loop_</b></td></tr>
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boost::graph_traits&lt; <a class="el" href="classpcl_1_1registration_1_1_e_l_c_h.html#ac5262f9b7301989c89d3c6ea628954ed">LoopGraph</a> &gt;::vertex_descriptor&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_e_l_c_h.html#aae244e5b9495652a8abd1e4ab3c2b4d2">vd_</a></td></tr>
<tr class="memdesc:aae244e5b9495652a8abd1e4ab3c2b4d2"><td class="mdescLeft">&#160;</td><td class="mdescRight">previously added node in the loop_graph_. <br /></td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
额外继承的成员函数</h2></td></tr>
<tr class="inherit_header pro_attribs_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointT &gt;</a></td></tr>
<tr class="memitem:a09c70d8e06e3fb4f07903fe6f8d67869 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a09c70d8e06e3fb4f07903fe6f8d67869"></a>
PointCloudConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a></td></tr>
<tr class="memdesc:a09c70d8e06e3fb4f07903fe6f8d67869 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">The input point cloud dataset. <br /></td></tr>
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<tr class="memitem:aaee847c8a517ebf365bad2cb182a6626 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="aaee847c8a517ebf365bad2cb182a6626"></a>
IndicesPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a></td></tr>
<tr class="memdesc:aaee847c8a517ebf365bad2cb182a6626 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">A pointer to the vector of point indices to use. <br /></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ada1eadb824d34ca9206a86343d9760bb">use_indices_</a></td></tr>
<tr class="memdesc:ada1eadb824d34ca9206a86343d9760bb inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set to true if point indices are used. <br /></td></tr>
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<tr class="memitem:adadb0299f144528020ed558af6879662 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="adadb0299f144528020ed558af6879662"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#adadb0299f144528020ed558af6879662">fake_indices_</a></td></tr>
<tr class="memdesc:adadb0299f144528020ed558af6879662 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">If no set of indices are given, we construct a set of fake indices that mimic the input <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a>. <br /></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;typename PointT&gt;<br />
class pcl::registration::ELCH&lt; PointT &gt;</h3>

<p><b><a class="el" href="classpcl_1_1registration_1_1_e_l_c_h.html" title="ELCH (Explicit Loop Closing Heuristic) class">ELCH</a></b> (Explicit Loop Closing Heuristic) class </p>
<dl class="section author"><dt>作者</dt><dd>Jochen Sprickerhof </dd></dl>
</div><h2 class="groupheader">成员函数说明</h2>
<a id="a699aeed821928a76785e198ebb0ad978"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a699aeed821928a76785e198ebb0ad978">&#9670;&nbsp;</a></span>addPointCloud()</h2>

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template&lt;typename PointT &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1registration_1_1_e_l_c_h.html">pcl::registration::ELCH</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::addPointCloud </td>
          <td>(</td>
          <td class="paramtype">PointCloudPtr&#160;</td>
          <td class="paramname"><em>cloud</em></td><td>)</td>
          <td></td>
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<p>Add a new point cloud to the internal graph. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud</td><td>the new point cloud </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;        {</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;          <span class="keyword">typename</span> boost::graph_traits&lt;LoopGraph&gt;::vertex_descriptor vd = add_vertex (*<a class="code" href="classpcl_1_1registration_1_1_e_l_c_h.html#a765f76380bd81395ffa7005f5ba3d26a">loop_graph_</a>);</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;          (*loop_graph_)[vd].cloud = cloud;</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;          <span class="keywordflow">if</span> (num_vertices (*<a class="code" href="classpcl_1_1registration_1_1_e_l_c_h.html#a765f76380bd81395ffa7005f5ba3d26a">loop_graph_</a>) &gt; 1)</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;            add_edge (<a class="code" href="classpcl_1_1registration_1_1_e_l_c_h.html#aae244e5b9495652a8abd1e4ab3c2b4d2">vd_</a>, vd, *<a class="code" href="classpcl_1_1registration_1_1_e_l_c_h.html#a765f76380bd81395ffa7005f5ba3d26a">loop_graph_</a>);</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_e_l_c_h.html#aae244e5b9495652a8abd1e4ab3c2b4d2">vd_</a> = vd;</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;        }</div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_e_l_c_h_html_a765f76380bd81395ffa7005f5ba3d26a"><div class="ttname"><a href="classpcl_1_1registration_1_1_e_l_c_h.html#a765f76380bd81395ffa7005f5ba3d26a">pcl::registration::ELCH::loop_graph_</a></div><div class="ttdeci">LoopGraphPtr loop_graph_</div><div class="ttdoc">The internal loop graph.</div><div class="ttdef"><b>Definition:</b> elch.h:233</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_e_l_c_h_html_aae244e5b9495652a8abd1e4ab3c2b4d2"><div class="ttname"><a href="classpcl_1_1registration_1_1_e_l_c_h.html#aae244e5b9495652a8abd1e4ab3c2b4d2">pcl::registration::ELCH::vd_</a></div><div class="ttdeci">boost::graph_traits&lt; LoopGraph &gt;::vertex_descriptor vd_</div><div class="ttdoc">previously added node in the loop_graph_.</div><div class="ttdef"><b>Definition:</b> elch.h:249</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#af1f07eb24a5f59b081521a5cf7350895">&#9670;&nbsp;</a></span>loopOptimizerAlgorithm()</h2>

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<div class="memtemplate">
template&lt;typename PointT &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1registration_1_1_e_l_c_h.html">pcl::registration::ELCH</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::loopOptimizerAlgorithm </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classpcl_1_1registration_1_1_e_l_c_h.html#af98b2995f77aa977ef442e8619e8c873">LOAGraph</a> &amp;&#160;</td>
          <td class="paramname"><em>g</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double *&#160;</td>
          <td class="paramname"><em>weights</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
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<p>graph balancer algorithm computes the weights </p><dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">g</td><td>the graph </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">f</td><td>index of the first node </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">l</td><td>index of the last node </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">weights</td><td>array for the weights </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;{</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  std::list&lt;int&gt; crossings, branches;</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  crossings.push_back (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (<a class="code" href="classpcl_1_1registration_1_1_e_l_c_h.html#a5bb88c947d3d707860e190bca8dd6145">loop_start_</a>));</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  crossings.push_back (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (<a class="code" href="classpcl_1_1registration_1_1_e_l_c_h.html#a2dc3fbc4ade3cec41a51dcad5b48bc9f">loop_end_</a>));</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  weights[<a class="code" href="classpcl_1_1registration_1_1_e_l_c_h.html#a5bb88c947d3d707860e190bca8dd6145">loop_start_</a>] = 0;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  weights[<a class="code" href="classpcl_1_1registration_1_1_e_l_c_h.html#a2dc3fbc4ade3cec41a51dcad5b48bc9f">loop_end_</a>] = 1;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160; </div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  <span class="keywordtype">int</span> *p = <span class="keyword">new</span> <span class="keywordtype">int</span>[num_vertices (g)];</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  <span class="keywordtype">int</span> *p_min = <span class="keyword">new</span> <span class="keywordtype">int</span>[num_vertices (g)];</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <span class="keywordtype">double</span> *d = <span class="keyword">new</span> <span class="keywordtype">double</span>[num_vertices (g)];</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <span class="keywordtype">double</span> *d_min = <span class="keyword">new</span> <span class="keywordtype">double</span>[num_vertices (g)];</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  <span class="keywordtype">double</span> dist;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  <span class="keywordtype">bool</span> do_swap = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  std::list&lt;int&gt;::iterator crossings_it, end_it, start_min, end_min;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  <span class="comment">// process all junctions</span></div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  <span class="keywordflow">while</span> (!crossings.empty ())</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  {</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    dist = -1;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <span class="comment">// find shortest crossing for all vertices on the loop</span></div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    <span class="keywordflow">for</span> (crossings_it = crossings.begin (); crossings_it != crossings.end (); )</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    {</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      dijkstra_shortest_paths (g, *crossings_it,</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;          predecessor_map(boost::make_iterator_property_map(p, get(boost::vertex_index, g))).</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;          distance_map(boost::make_iterator_property_map(d, get(boost::vertex_index, g))));</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      end_it = crossings_it;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      end_it++;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      <span class="comment">// find shortest crossing for one vertex</span></div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      <span class="keywordflow">for</span> (; end_it != crossings.end (); end_it++)</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      {</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;        <span class="keywordflow">if</span> (*end_it != p[*end_it] &amp;&amp; (dist &lt; 0 || d[*end_it] &lt; dist))</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;        {</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;          dist = d[*end_it];</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;          start_min = crossings_it;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;          end_min = end_it;</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;          do_swap = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;        }</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      }</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;      <span class="keywordflow">if</span> (do_swap)</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;      {</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        std::swap (p, p_min);</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        std::swap (d, d_min);</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        do_swap = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      }</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;      <span class="comment">// vertex starts a branch</span></div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;      <span class="keywordflow">if</span> (dist &lt; 0)</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      {</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;        branches.push_back (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (*crossings_it));</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        crossings_it = crossings.erase (crossings_it);</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      }</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        crossings_it++;</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    }</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160; </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    <span class="keywordflow">if</span> (dist &gt; -1)</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    {</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;      remove_edge (*end_min, p_min[*end_min], g);</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = p_min[*end_min]; i != *start_min; i = p_min[i])</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      {</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;        <span class="comment">//even right with weights[*start_min] &gt; weights[*end_min]! (math works)</span></div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        weights[i] = weights[*start_min] + (weights[*end_min] - weights[*start_min]) * d_min[i] / d_min[*end_min];</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;        remove_edge (i, p_min[i], g);</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;        <span class="keywordflow">if</span> (degree (i, g) &gt; 0)</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;        {</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;          crossings.push_back (i);</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;        }</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      }</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;      <span class="keywordflow">if</span> (degree (*start_min, g) == 0)</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;        crossings.erase (start_min);</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160; </div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;      <span class="keywordflow">if</span> (degree (*end_min, g) == 0)</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;        crossings.erase (end_min);</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    }</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;  }</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  <span class="keyword">delete</span>[] p;</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  <span class="keyword">delete</span>[] p_min;</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  <span class="keyword">delete</span>[] d;</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  <span class="keyword">delete</span>[] d_min;</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160; </div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;  boost::graph_traits&lt;LOAGraph&gt;::adjacency_iterator adjacent_it, adjacent_it_end;</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  <span class="keywordtype">int</span> s;</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160; </div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;  <span class="comment">// error propagation</span></div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;  <span class="keywordflow">while</span> (!branches.empty ())</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;  {</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    s = branches.front ();</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    branches.pop_front ();</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160; </div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    <span class="keywordflow">for</span> (boost::tuples::tie (adjacent_it, adjacent_it_end) = adjacent_vertices (s, g); adjacent_it != adjacent_it_end; ++adjacent_it)</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    {</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;      weights[*adjacent_it] = weights[s];</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;      <span class="keywordflow">if</span> (degree (*adjacent_it, g) &gt; 1)</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;        branches.push_back (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (*adjacent_it));</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    }</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    clear_vertex (s, g);</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;  }</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_e_l_c_h_html_a2dc3fbc4ade3cec41a51dcad5b48bc9f"><div class="ttname"><a href="classpcl_1_1registration_1_1_e_l_c_h.html#a2dc3fbc4ade3cec41a51dcad5b48bc9f">pcl::registration::ELCH::loop_end_</a></div><div class="ttdeci">boost::graph_traits&lt; LoopGraph &gt;::vertex_descriptor loop_end_</div><div class="ttdoc">The last scan of the loop.</div><div class="ttdef"><b>Definition:</b> elch.h:239</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_e_l_c_h_html_a5bb88c947d3d707860e190bca8dd6145"><div class="ttname"><a href="classpcl_1_1registration_1_1_e_l_c_h.html#a5bb88c947d3d707860e190bca8dd6145">pcl::registration::ELCH::loop_start_</a></div><div class="ttdeci">boost::graph_traits&lt; LoopGraph &gt;::vertex_descriptor loop_start_</div><div class="ttdoc">The first scan of the loop.</div><div class="ttdef"><b>Definition:</b> elch.h:236</div></div>
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</div>
</div>
<a id="a50e55522983f1b6860d8a0e22d4e5f2f"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a50e55522983f1b6860d8a0e22d4e5f2f">&#9670;&nbsp;</a></span>setLoopEnd()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1registration_1_1_e_l_c_h.html">pcl::registration::ELCH</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::setLoopEnd </td>
          <td>(</td>
          <td class="paramtype">const typename boost::graph_traits&lt; <a class="el" href="classpcl_1_1registration_1_1_e_l_c_h.html#ac5262f9b7301989c89d3c6ea628954ed">LoopGraph</a> &gt;::vertex_descriptor &amp;&#160;</td>
          <td class="paramname"><em>loop_end</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Setter for the last scan of a loop. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">loop_end</td><td>the scan that ends the loop </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        {</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_e_l_c_h.html#a2dc3fbc4ade3cec41a51dcad5b48bc9f">loop_end_</a> = loop_end;</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;        }</div>
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</div>
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<a id="a6ec78cd27b7ad849037410127c874459"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a6ec78cd27b7ad849037410127c874459">&#9670;&nbsp;</a></span>setLoopGraph()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1registration_1_1_e_l_c_h.html">pcl::registration::ELCH</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::setLoopGraph </td>
          <td>(</td>
          <td class="paramtype">LoopGraphPtr&#160;</td>
          <td class="paramname"><em>loop_graph</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Setter for a new internal graph. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">loop_graph</td><td>the new graph </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        {</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_e_l_c_h.html#a765f76380bd81395ffa7005f5ba3d26a">loop_graph_</a> = loop_graph;</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;        }</div>
</div><!-- fragment -->
</div>
</div>
<a id="a70c81e9d0a73cdc9a85769467bd5c9d8"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a70c81e9d0a73cdc9a85769467bd5c9d8">&#9670;&nbsp;</a></span>setLoopStart()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1registration_1_1_e_l_c_h.html">pcl::registration::ELCH</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::setLoopStart </td>
          <td>(</td>
          <td class="paramtype">const typename boost::graph_traits&lt; <a class="el" href="classpcl_1_1registration_1_1_e_l_c_h.html#ac5262f9b7301989c89d3c6ea628954ed">LoopGraph</a> &gt;::vertex_descriptor &amp;&#160;</td>
          <td class="paramname"><em>loop_start</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Setter for the first scan of a loop. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">loop_start</td><td>the scan that starts the loop </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;        {</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_e_l_c_h.html#a5bb88c947d3d707860e190bca8dd6145">loop_start_</a> = loop_start;</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        }</div>
</div><!-- fragment -->
</div>
</div>
<a id="a209e59992fbbea574ce1a1f09078a77e"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a209e59992fbbea574ce1a1f09078a77e">&#9670;&nbsp;</a></span>setLoopTransform()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1registration_1_1_e_l_c_h.html">pcl::registration::ELCH</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::setLoopTransform </td>
          <td>(</td>
          <td class="paramtype">const Eigen::Matrix4f &amp;&#160;</td>
          <td class="paramname"><em>loop_transform</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Setter for the transformation between the first and the last scan. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">loop_transform</td><td>the transformation between the first and the last scan </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;        {</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_e_l_c_h.html#a86e5a885395ad3ff976024ea0df182df">loop_transform_</a> = loop_transform;</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;          compute_loop_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;        }</div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_e_l_c_h_html_a86e5a885395ad3ff976024ea0df182df"><div class="ttname"><a href="classpcl_1_1registration_1_1_e_l_c_h.html#a86e5a885395ad3ff976024ea0df182df">pcl::registration::ELCH::loop_transform_</a></div><div class="ttdeci">Eigen::Matrix4f loop_transform_</div><div class="ttdoc">The transformation between that start and end of the loop.</div><div class="ttdef"><b>Definition:</b> elch.h:245</div></div>
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</div>
</div>
<a id="a9a6b424362d615b4a6a59d4b6c171ce2"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a9a6b424362d615b4a6a59d4b6c171ce2">&#9670;&nbsp;</a></span>setReg()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1registration_1_1_e_l_c_h.html">pcl::registration::ELCH</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::setReg </td>
          <td>(</td>
          <td class="paramtype">RegistrationPtr&#160;</td>
          <td class="paramname"><em>reg</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Setter for the registration algorithm. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">reg</td><td>the registration algorithm used to compute the transformation between the start and the end of the loop </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;        {</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_e_l_c_h.html#ad4b077d5a0316854d36b60445a24ed04">reg_</a> = reg;</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;        }</div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_e_l_c_h_html_ad4b077d5a0316854d36b60445a24ed04"><div class="ttname"><a href="classpcl_1_1registration_1_1_e_l_c_h.html#ad4b077d5a0316854d36b60445a24ed04">pcl::registration::ELCH::reg_</a></div><div class="ttdeci">RegistrationPtr reg_</div><div class="ttdoc">The registration object used to close the loop.</div><div class="ttdef"><b>Definition:</b> elch.h:242</div></div>
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<hr/>该类的文档由以下文件生成:<ul>
<li>registration/include/pcl/registration/<a class="el" href="elch_8h_source.html">elch.h</a></li>
<li>registration/include/pcl/registration/impl/<a class="el" href="elch_8hpp_source.html">elch.hpp</a></li>
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